motion/ecmc_plugin_socketcan
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Cleanup

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This commit is contained in:
Anders Sandstrom
2021-03-04 14:33:44 +01:00
parent 3b493c5be6
commit 1121fef540
2 changed files with 7 additions and 9 deletions
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1
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenPDO.cpp
View File

@@ -82,7 +82,6 @@ void ecmcCANOpenPDO::printBuffer() {
memcpy(&test,&dataBuffer_[i],2);
printf("data[%d]: %u\n",i/2,test);
}
printf("\n");
}
// r 0x183 [8] 0x00 0x00 0x00 0x00 0x0B 0x40 0x04 0x20

15
ecmc_plugin_socketcan/ecmc_plugin_socketcanApp/src/ecmcCANOpenSDO.cpp
View File

@@ -120,7 +120,7 @@ void ecmcCANOpenSDO::execute() {
recivedBytes_ = 0;
readStates_ = WAIT_FOR_REQ_CONF;
if(dbgMode_) {
printf("readStates_ = WAIT_FOR_REQ_CONF!!!\n");
printf("STATE = WAIT_FOR_REQ_CONF\n");
}
writeBuffer_->addWriteCAN(&reqDataFrame_);
}
@@ -140,15 +140,15 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
case WAIT_FOR_REQ_CONF:
// Compare to the conf frame.. might not always be correct
if ( !frameEqual(&recConfRead_,frame)) {
if(dbgMode_) {
printf("frame not equal\n");
}
// if(dbgMode_) {
// printf("frame not equal\n");
// }
// Not "my frame", wait for new
return;
}
readStates_ = WAIT_FOR_DATA; //Next frame should be data!
if(dbgMode_) {
printf("readStates_ = WAIT_FOR_DATA!!!\n");
printf("STATE = WAIT_FOR_DATA\n");
}
writeBuffer_->addWriteCAN(&confReqFrameTg0_); // Send tg0 frame and wait for data, also size must match to go ahead
useTg1Frame_ = 1;
@@ -173,14 +173,14 @@ void ecmcCANOpenSDO::newRxFrame(can_frame *frame) {
}
}
if(dbgMode_) {
printf("recivedBytes = %d!!!\n",recivedBytes_);
printf("recived bytes = %d\n",recivedBytes_);
}
if (recivedBytes_ == ODSize_) {
readStates_ =IDLE;
busy_ = 0;
if(dbgMode_) {
printf("All data transfered\n");
printf("All data transfered for SDO.\n");
printBuffer();
}
}
@@ -220,7 +220,6 @@ void ecmcCANOpenSDO::printBuffer() {
memcpy(&test,&dataBuffer_[i],2);
printf("data[%d]: %u\n",i/2,test);
}
printf("\n");
}
//# w 0x603 [8] 0x40 0x40 0x26 0x00 0x00 0x00 0x00 0x00